DE102017211641B4 - Roboter-Schwerpunktanzeigevorrichtung, Roboter-Steuerungsvorrichtung und Roboter-Simulationsvorrichtung - Google Patents

Roboter-Schwerpunktanzeigevorrichtung, Roboter-Steuerungsvorrichtung und Roboter-Simulationsvorrichtung Download PDF

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Publication number
DE102017211641B4
DE102017211641B4 DE102017211641.2A DE102017211641A DE102017211641B4 DE 102017211641 B4 DE102017211641 B4 DE 102017211641B4 DE 102017211641 A DE102017211641 A DE 102017211641A DE 102017211641 B4 DE102017211641 B4 DE 102017211641B4
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robot
center
gravity
unit
respective shafts
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DE102017211641.2A
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German (de)
English (en)
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DE102017211641A1 (de
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Tomonori Arai
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Fanuc Corp
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Fanuc Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39444—Display of position, of shape of robot and tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/16—Cartesian, three degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/48—Counterbalance

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE102017211641.2A 2016-07-12 2017-07-07 Roboter-Schwerpunktanzeigevorrichtung, Roboter-Steuerungsvorrichtung und Roboter-Simulationsvorrichtung Active DE102017211641B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-137349 2016-07-12
JP2016137349A JP6457441B2 (ja) 2016-07-12 2016-07-12 ロボットの重心表示装置、ロボット制御装置およびロボットシミュレーション装置

Publications (2)

Publication Number Publication Date
DE102017211641A1 DE102017211641A1 (de) 2018-01-18
DE102017211641B4 true DE102017211641B4 (de) 2019-11-07

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DE102017211641.2A Active DE102017211641B4 (de) 2016-07-12 2017-07-07 Roboter-Schwerpunktanzeigevorrichtung, Roboter-Steuerungsvorrichtung und Roboter-Simulationsvorrichtung

Country Status (4)

Country Link
US (1) US10302519B2 (ja)
JP (1) JP6457441B2 (ja)
CN (1) CN107598946B (ja)
DE (1) DE102017211641B4 (ja)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6542839B2 (ja) * 2017-06-07 2019-07-10 ファナック株式会社 制御装置及び機械学習装置
DE112018002565B4 (de) * 2017-08-10 2021-07-01 Robert Bosch Gmbh System und Verfahren zum direkten Anlernen eines Roboters
JP6703020B2 (ja) * 2018-02-09 2020-06-03 ファナック株式会社 制御装置及び機械学習装置
EP3584751A1 (de) * 2018-06-20 2019-12-25 Siemens Aktiengesellschaft Verfahren zum erstellen eines digitalen zwillings
JP7260405B2 (ja) 2019-06-07 2023-04-18 ファナック株式会社 オフラインプログラミング装置、ロボット制御装置および拡張現実システム
KR20190117421A (ko) * 2019-09-27 2019-10-16 엘지전자 주식회사 운송 로봇 및 그의 제어 방법
CN113654727A (zh) * 2021-09-10 2021-11-16 广东博智林机器人有限公司 重心位置测量方法、系统及装置、计算机设备和存储介质
CN114427932B (zh) * 2022-04-07 2022-06-17 中国汽车技术研究中心有限公司 一种用于碰撞假人的质心测量方法及质心测量仪
CN116296070A (zh) * 2023-04-06 2023-06-23 唐山唐擎科技有限公司 一种重心测量系统

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JPH0355189A (ja) * 1989-07-20 1991-03-08 Mitsubishi Electric Corp ロボットの力制御方法及び装置
JPH10138187A (ja) * 1996-11-01 1998-05-26 Nachi Fujikoshi Corp 多関節ロボットの負荷重量及び負荷重心位置の自動算出方法
JP2003196323A (ja) * 2001-12-27 2003-07-11 Toyota Motor Corp 重量・重心位置設計支援装置、重量・重心位置設計支援方法および重量・重心位置設計支援プログラム
EP2070662A1 (en) * 2006-09-06 2009-06-17 Toyota Jidosha Kabushiki Kaisha Legged robot
JP2012040634A (ja) * 2010-08-18 2012-03-01 Ihi Corp 力制御ロボットのキャリブレーション装置と方法
DE102015114584A1 (de) * 2014-09-02 2016-03-03 Toyota Jidosha Kabushiki Kaisha Fahrroboter, bewegungsplanungsverfahren für einen fahrroboter, und speichermedium, das ein programm für einen fahrroboter speichert
DE102016006704A1 (de) * 2015-06-08 2016-12-22 Fanuc Corporation Robotersteuerung mit Funktion zum Anzeigen von Roboter und Kraft

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CN1067515A (zh) * 1991-06-01 1992-12-30 宗教法人金刚禅总本山少林寺 动画片制作方法
US5214749A (en) * 1991-06-12 1993-05-25 Massachusetts Institute Of Technology Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage
JP4518615B2 (ja) 2000-03-30 2010-08-04 ソニー株式会社 脚式移動ロボットの動作制御システム及び動作制御方法
EP2151374B1 (en) * 2002-03-15 2013-01-16 Sony Corporation Motion controlling apparatus and motion controlling method for legged mobile robot, and robot apparatus
US7873436B2 (en) * 2004-01-13 2011-01-18 Honda Motor Co., Ltd. Gait generator for mobile robot
EP1783517A1 (en) * 2005-11-04 2007-05-09 AGELLIS Group AB Multi-dimensional imaging method and apparatus
US7798264B2 (en) * 2006-11-02 2010-09-21 Hutcheson Timothy L Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode
JP4508252B2 (ja) * 2008-03-12 2010-07-21 株式会社デンソーウェーブ ロボット教示装置
JP4569653B2 (ja) 2008-03-24 2010-10-27 ソニー株式会社 ロボット制御装置、ロボット制御方法及びロボット制御プログラム
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CN103328161B (zh) * 2011-01-31 2015-08-19 丰田自动车株式会社 多关节型臂机器人及其控制方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0355189A (ja) * 1989-07-20 1991-03-08 Mitsubishi Electric Corp ロボットの力制御方法及び装置
JPH10138187A (ja) * 1996-11-01 1998-05-26 Nachi Fujikoshi Corp 多関節ロボットの負荷重量及び負荷重心位置の自動算出方法
JP2003196323A (ja) * 2001-12-27 2003-07-11 Toyota Motor Corp 重量・重心位置設計支援装置、重量・重心位置設計支援方法および重量・重心位置設計支援プログラム
EP2070662A1 (en) * 2006-09-06 2009-06-17 Toyota Jidosha Kabushiki Kaisha Legged robot
JP2012040634A (ja) * 2010-08-18 2012-03-01 Ihi Corp 力制御ロボットのキャリブレーション装置と方法
DE102015114584A1 (de) * 2014-09-02 2016-03-03 Toyota Jidosha Kabushiki Kaisha Fahrroboter, bewegungsplanungsverfahren für einen fahrroboter, und speichermedium, das ein programm für einen fahrroboter speichert
DE102016006704A1 (de) * 2015-06-08 2016-12-22 Fanuc Corporation Robotersteuerung mit Funktion zum Anzeigen von Roboter und Kraft

Also Published As

Publication number Publication date
DE102017211641A1 (de) 2018-01-18
JP6457441B2 (ja) 2019-01-23
CN107598946B (zh) 2019-09-24
JP2018008326A (ja) 2018-01-18
US20180017461A1 (en) 2018-01-18
CN107598946A (zh) 2018-01-19
US10302519B2 (en) 2019-05-28

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